Position determination system for movable objects or personnel

ABSTRACT

A position determination system for movable objects or personnel comprising at least one portable position sensor built into a wearable item of a member of personnel having an identification number, or embedded into a movable object having an identification number, and a high accuracy position determination device. The high accuracy position determination device is configured to provide a set of high accuracy initialization data including a set of high accuracy absolute positional data indicative of location of the initialization device, a set of high accuracy velocity/acceleration data indicative of velocity/acceleration of the initialization device, and a set of high accuracy orientation data indicative of orientation of the high accuracy position determination device. The portable position sensor is configured to utilize the high accuracy initialization data to generate and broadcast the positional data of at least one member of personnel having an identification number, or of at least one movable object having an identification number.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to the field of devices used for positiondetermination, and more specifically, to the field of InertialNavigation System (INS)-based position determination devices withenhanced accuracy.

2. Discussion of the Prior Art

It is important to keep track of public safety personnel as they performtheir duties inside buildings or other obscured and often hazardousenvironments. Ideally, such a system would permit continuos tracking ofa large number of individuals, or movable objects, over a range of1000-2000 feet from a tracking monitoring data collection point. Inaddition, other public safety personnel like policemen, or miners insidemines could benefit from such a position determination system, in thattheir position could be uniquely determined and sent from the in-vehicleposition determination system via one of the radio systems back toheadquarters for their own safety. Such position determination systemcould be also used to track a variety of robotic means deployed tooperate in the various hazardous and obscured environments, or used todeal remotely with obscured dangerous items, etc.

The Satellite Positioning Systems (SATPSs), including the GlobalPositioning System (GPS), have not met the needs for tracking personnelwith the availability and accuracy needed by the various management ofthese public safety agencies. Despite the work of various others, noproducts are available using SATPS (or GPS) as a wearable element in apersonal position determination system. Even the enhanced sensitivitysystems may encounter loss of signal in various types of buildings, suchas very high rise skyscrapers, or in the deep mines. Even if enhancedsensitivity receivers can acquire signals, there is often a substantialreduction in accuracy. Furthermore, such enhanced sensitivity systemsuse much more power than new inertial navigation sensors. And there isthe issues of the power needed to perform decent communications. Thesame is true in regard of tracking a variety of robotic means deployedto operate in the various hazardous and obscured environments.

Recent advances in Inertial Navigation Systems (INS) technologies makesit feasible to build a very small, low power INS system, that incombination with a similarly low power radio communications system suchas embodied in a Bluetooth product, or an Ultra Wide Band (UWB) product,could provide a data link from the combination INS/Radio to a positiondetermination system located in the fire truck, or in the police car, orin the ambulance, or in a portable station.

Thus, what is needed is to provide a mobile, or portable positiondetermination system that receives the accelerator/velocity inputs fromeach uniquely identified personal INS/Radio system, and calculates aposition estimate relative to the very accurate satellite-determinedposition of the mobile, or portable station.

SUMMARY OF THE INVENTION

To address the shortcomings of the available art, the present inventionprovides for a mobile, or portable position determination system thatreceives the accelerator/velocity inputs from each uniquely identifiedpersonal INS/Radio system, and calculates a position estimate relativeto the very accurate satellite-determined position of the mobile, orportable station.

One aspect of the present invention is directed to a positiondetermination system for personnel members or movable objects.

In one embodiment of the present invention, the position determinationsystem for personnel members or movable objects comprises: (1) at leastone portable position sensor, and (2) a high accuracy positiondetermination device capable of determining its position and velocitywith high accuracy. In one embodiment of the present invention, eachportable position sensor further comprises: (1a) an inertial navigationsystem (INS) module capable of determining its acceleration dataadjusted for a local gravitational factor, (1b) a portable wirelesscommunication module, and (1c) a power source adapted to provide powerto the portable position sensor.

In one embodiment of the present invention, the high accuracy positionand velocity data provided by the high accuracy position determinationdevice and the acceleration data adjusted for the local gravitationalfactor provided by the portable position sensor is received andprocessed in order to derive an INS positional data corresponding toeach INS module.

In one embodiment of the present invention, at least one portableposition sensor is built into a wearable item of a member of thepersonnel having an identification number ID_Number. In anotherembodiment of the present invention, at least one portable positionsensor is embedded into a movable object having an ID_Object_Number.

In one embodiment of the present invention, at least one portableposition sensor further includes: a portable data processor, and asubstantially continuous one-way communication link. The portableposition sensor is configured to substantially continuously receive thehigh accuracy position and velocity data from the high accuracy positiondetermination device by using the one-way communication link, whereinthe portable data processor is configured to derive a set of INSpositional data corresponding to the INS module based on the highaccuracy position and velocity data provided by the high accuracyposition determination device and based on the acceleration dataadjusted for the local gravitational factor provided by the INS module.The portable data processor derives the set of INS positional datacorresponding to the INS module (firstly) by incorporating the set ofhigh accuracy velocity data provided by the high accuracy positiondetermination device into the set of measured absolute acceleration dataadjusted for the local gravitational factor provided by the INS modulein order to generate a set of absolute velocity data indicative of anabsolute velocity of the INS module; and (secondly) by integrating theset of high accuracy positional data provided by the high accuracyposition determination device into the set of absolute velocity data inorder to generate a set of INS data including a set of absolutepositional data indicative of location of the INS module.

In one embodiment of the present invention, the portable data processoradditionally generates a set of INS positional error data that indicatesthe degree of accuracy of the set of absolute INS positional data.

In one embodiment of the present invention, the portable data processoradditionally generates a set of INS absolute velocity/accelerationvector error data that indicates the degree of accuracy of the absolutevelocity/acceleration vector of the INS module.

In one embodiment of the present invention, at least one portableposition sensor further includes a memory block that is configured torecord the set of INS positional data corresponding to the INS moduleover a first time period. In another embodiment of the presentinvention, the memory block is further configured to record the set ofINS positional error data that indicates the degree of accuracy of theset of absolute INS positional data over a second time period.

In one embodiment of the present invention, at least one portableposition sensor further includes a display device configured to displaythe set of INS positional data corresponding to the INS module over atime period. In one embodiment of the present invention, at least oneportable position sensor further includes a display device configured todisplay the set of INS positional data including a set of INS positionalerror data.

In one embodiment of the present invention, at least one portableposition sensor further includes: a portable data processor, and asubstantially continuous two-way communication link. The portableposition sensor is configured (1) to substantially continuously receivethe high accuracy position and velocity data provided by the highaccuracy position determination device by using the two-waycommunication link, (2) to derive a set of INS positional datacorresponding to the INS module based on the high accuracy position andvelocity data provided by the high accuracy position determinationdevice and based on the acceleration data adjusted for the localgravitational factor provided by the INS module, and (3) tosubstantially continuously broadcast the set of INS positional datacorresponding to the INS module by using the two-way communication link.In one embodiment of the present invention, the portable position sensoris further configured (4) to substantially continuously broadcast theset of INS positional error data corresponding to the INS module byusing the two-way communication link.

In one embodiment of the present invention, the one-way communicationlink further comprises a network of short range transceivers configuredto support substantially continuous communication between the highaccuracy position determination device and at least one portableposition sensor.

In one embodiment of the present invention, the two-way communicationlink further comprises: a communication system selected from the groupconsisting of: {a Bluetooth communication system, an Ultra Wide Band(UWB) communication system, an (802.11a) communication system, an(802.11b) communication system, an (802.11g) communication system, a LANnetwork, a WAN network, and a Wi-Fi network}.

In one embodiment of the present invention, the position determinationsystem for personnel members or movable objects comprises: (1) at leastone portable position sensor, (2) a high accuracy position determinationdevice capable of determining its position and velocity with highaccuracy, (3) a one-way communication link, and (4) a tracking station.In one embodiment of the present invention, each portable positionsensor further comprises: (1a) an inertial navigation system (INS)module capable of determining its acceleration data adjusted for a localgravitational factor, (1b) a portable wireless communication module, and(1c) a power source adapted to provide power to the portable positionsensor. In one embodiment of the present invention, the tracking stationfurther includes a data processor configured to substantiallycontinuously receive the high accuracy position and velocity dataprovided by the high accuracy position determination device and theacceleration data adjusted for a local gravitational factor provided byeach portable position sensor; and configured to derive an INSpositional data including an INS positional error data corresponding toeach INS module.

In one embodiment of the present invention, the tracking station furtherincludes a display configured to display and to track each INS modulebased on the INS positional data including the INS positional error datacorresponding to the INS module.

In one embodiment of the present invention, the tracking station isconfigured to substantially continuously communicate with each INSmodule using the two-way communication link. In one embodiment of thepresent invention, the tracking station further includes an alarm deviceconfigured to communicate to each INS module using the two-waycommunication link that its positional error data exceeds apredetermined threshold.

In one embodiment of the present invention, the high accuracy positiondetermination device further comprises a Mobile Initialization Station(MIS) further including an integrated Satellite Positioning System(SATPS)/transceiver unit, and a display device. In another embodiment ofthe present invention, the high accuracy position determination devicefurther comprises a Mobile Initialization Station (MIS) furtherincluding an integrated Global Positioning System (GPS)/transceiverunit, and a display device. In an additional embodiment of the presentinvention, the high accuracy position determination device furthercomprises a Mobile Initialization Station (MIS) further including anintegrated Vector Global Positioning System (Vector GPS)/transceiverunit, a display device; and an orientation device. The integrated VectorGlobal Positioning System (Vector GPS) is configured to determine anorientation vector and a velocity vector of the MIS. In this embodiment,the orientation device is configured to use the orientation vector andthe velocity vector of the MIS for an initial calibration of at leastone portable position sensor, and for subsequent re-calibration of atleast one portable position sensor at time instances when at least oneportable position sensor includes a velocity vector substantially equalto the velocity vector of the MIS. In one embodiment, the orientationdevice further comprises a cavity configured to hold the integratedINS/transceiver for initial calibration or for subsequent recalibrationof the portable position sensor.

In one embodiment of the present invention; the high accuracy positiondetermination device further comprises a Portable Initialization Station(PIS) further including an integrated Satellite Positioning System(SATPS)/transceiver unit, and a display device. In another embodiment ofthe present invention, the high accuracy position determination devicefurther comprises a Portable Initialization Station (PIS) furtherincluding an integrated Global Positioning System (GPS)/transceiverunit, and a display device. In an additional embodiment of the presentinvention, the high accuracy position determination device furthercomprises a Portable Initialization Station (PIS) further including anintegrated Vector Global Positioning System (Vector GPS)/transceiverunit, a display device; and an orientation device. The integrated VectorGlobal Positioning System (Vector GPS) is configured to determine anorientation vector and a velocity vector of the PIS. In this embodiment,the orientation device is configured to use the orientation vector andthe velocity vector of the PIS for an initial calibration of at leastone portable position sensor, and for subsequent re-calibration of atleast one portable position sensor at time instances when at least oneportable position sensor includes a velocity vector substantially equalto the velocity vector of the PIS. In one embodiment, the orientationdevice further comprises a cavity configured to hold the integratedINS/transceiver for initial calibration or for subsequent re-calibrationof the portable position sensor.

In one embodiment, at least one portable position sensor furthercomprises a low power miniature INS integrated with a short rangetransceiver and built into a wearable item selected from the groupconsisting of: {shoes; an article of clothing; and a watch}.

Another aspect of the present invention is directed to a method fortracking movable objects or personnel, wherein each movable object or amember of personnel includes an portable position sensor.

In one embodiment of the present invention, the method comprises thefollowing steps: (a) using a high accuracy position determination deviceto provide a set of high accuracy initialization data including a set ofhigh accuracy absolute positional data indicative of location of theinitialization device, a set of high accuracy velocity/acceleration dataindicative of velocity/acceleration of the initialization device, and aset of high accuracy orientation data indicative of orientation of thehigh accuracy position determination device to at lcast one portableposition sensor; (b) substantially continuously measuring a set ofabsolute acceleration data adjusted for a local gravitational factor ofeach portable position sensor by using the portable position sensor; ©)generating a set of absolute velocity data indicative of each portableposition sensor absolute velocity by incorporating the set of highaccuracy initialization data into the set of measured absoluteacceleration data adjusted for the local gravitational factor by usingthe portable position sensor; (d) generating a set of absolutepositional data indicative of each portable position sensor location byintegrating the set of high accuracy initialization data into the set ofgenerated absolute velocity data by using the portable position sensor;(e) generating a set of INS positional error data that indicates adegree of accuracy of each portable position sensor location by usingthe portable position sensor; and (f) generating a set of INS absolutevelocity/acceleration vector error data that indicates a degree ofaccuracy of each portable position sensor absolute velocity/accelerationvector by using the portable position sensor.

In one embodiment, the method of the present invention further includesthe steps of: (g) substantially continuously broadcasting each set ofINS data including the set of absolute positional data indicative of oneINS module location by using at least one communication link betweeneach INS module and a Mobile Initialization Sation (MIS) or a PortableInitialization Station (PIS); (h) substantially continuouslybroadcasting each set of INS data including the set of absolutevelocity/acceleration data indicative of the INS module absolutevelocity/acceleration using at least one communication link between eachINS module and the MIS or the PIS; (I) substantially continuouslybroadcasting the set of INS positional error data by using at least onecommunication link between each INS module and the MIS or the PIS; and(k) substantially continuously broadcasting the set of INS absolutevelocity/acceleration vector error data by using at least onecommunication link between each INS module and the MIS or the PIS.

In one embodiment, the method of the present invention further includesthe steps of: providing an initial calibration to each portable positionsensor by using a communication link between the high accuracy positiondetermination device and one portable position sensor; and providingsubsequent re-calibration to at least one portable position sensor byusing the communication link between the high accuracy positiondetermination device and one INS module that broadcasts a set of INSpositional error data exceeding a predetermined positional error datathreshold.

In one embodiment, the method of the present invention further includesthe step of providing subsequent recalibration to at least one portableposition sensor by using the communication link between the highaccuracy position determination device and one INS module thatbroadcasts a set of INS absolute velocity/acceleration vector error dataexceeding a predetermined absolute velocity/acceleration vector errordata threshold.

In one embodiment, wherein a member of the personnel/movable objectincludes an ID_Number/ID_Object_Number, the method of the presentinvention further includes the step of displaying position of at leastone ID_Number/ID_Object_Number of the personnel/movable object includingthe set of absolute positional error data.

BRIEF DESCRIPTION OF DRAWINGS

The aforementioned advantages of the present invention as well asadditional advantages thereof will be more clearly understoodhereinafter as a result of a detailed description of a preferredembodiment of the invention when taken in conjunction with the followingdrawings.

FIG. 1 depicts a position determination system for personnel members ormovable objects of the present invention.

FIG. 2 illustrates a portable position sensor of the present inventionincluding a small, light weight, wearable Inertial Navigation System(INS) including a number of accelerometers, a number of magnetometers, aprocessor, and a specifically designed software.

FIG. 3 depicts the position determination system for personnel membersor movable objects of the present invention including an integratedVector Global Positioning System (Vector GPS) navigation unit, a masterGPS antenna, two slave GPS antennas, a transceiver unit including atransceiver antenna, a display device, and an orientation device housedin a vehicle or in a portable unit.

FIG. 4 is a flow chart that illustrates the steps of operation of theposition determination system of FIG. 1 in one embodiment of the presentinvention.

DETAILED DESCRIPTION OF THE PREFERRED AND ALTERNATIVE EMBODIMENTS

Reference will now be made in detail to the preferred embodiments of theinvention, examples of which are illustrated in the accompanyingdrawings. While the invention will be described in conjunction with thepreferred embodiments, it will be understood that they are not intendedto limit the invention to these embodiments. On the contrary, theinvention is intended to cover alternatives, modifications andequivalents that may be included within the spirit and scope of theinvention as defined by the appended claims. Furthermore, in thefollowing detailed description of the present invention, numerousspecific details are set forth in order to provide a thoroughunderstanding of the present invention. However, it will be obvious toone of ordinary skill in the art that the present invention may bepracticed without these specific details. In other instances, well knownmethods, procedures, components, and circuits have not been described indetail as not to unnecessarily obscure aspects of the present invention.

In one embodiment of the present invention, FIG. 1 depicts a positiondetermination system for personnel members or movable objects 10 of thepresent invention comprising: at least one portable position sensor 18;and a high accuracy position determination device 24 capable ofdetermining its position and velocity with high accuracy. In oneembodiment of the present invention, each portable position sensor 18further comprises: an inertial navigation system (INS) module 20 capableof determining its acceleration data adjusted for a local gravitationalfactor; a portable wireless communication module 22; and a power source23 adapted to provide power to the portable position sensor. In oneembodiment of the present invention, at least one portable positionsensor 18 is built into a wearable item of a member of the personnelhaving an identification number ID_Number. In another embodiment of thepresent invention, at least one portable position sensor 18 is embeddedinto a movable object having an ID_Object_Number.

Referring still to FIG. 1, in one embodiment of the present invention,the high accuracy position determination device 24 further comprises aMobile Initialization Station (MIS) including a Satellite PositioningSystem (SATPS) 48 including a satellite antenna 49, a transceiver unit58, and a display device 50 housed in a vehicle 23.

Referring still to FIG. 1, in another embodiment of the presentinvention, the high accuracy position determination device 24 furthercomprises a Mobile Initialization Station (MIS) further including: anintegrated Global Positioning System (GPS) navigation system 48, atransceiver unit 58, and a display device 50 housed in a vehicle 23.

For the purposes of the present invention, the vehicle 23 is, forexample, a fire truck, or an ambulance, or a police vehicle, or any oneof numerous other types of vehicles as well.

Referring still to FIG. 1, in one embodiment of the present invention,the high accuracy position determination device 24 further comprises aPortable Initialization Station (PIS) further including: an integratedSatellite Positioning System (SATPS)/transceiver unit 48 and a displaydevice 50. In another embodiment of the present invention, the highaccuracy position determination device further comprises a portableinitialization station (PIS) further including: an integrated GlobalPositioning System (GPS)/transceiver unit 48, and a display device 50.

Referring still to FIG. 1, in one embodiment of the present invention,the Portable Initialization Station (PIS) includes a portable dataterminal (not shown) that is removably attachable to the MobileInitialization Station (MIS). That is, portable data terminal canperform all of the functions of the above-described embodiments whendisposed within MIS 24 and when removed from MIS 24.

The Global Positioning System (GPS) is a system of satellite signaltransmitters that transmits information from which an observer's presentlocation and/or the time of observation can be determined. Anothersatellite-based navigation system is called the Global OrbitingNavigation System (GLONASS), which can operate as an alternative orsupplemental system.

The GPS was developed by the United States Department of Defense (DOD)under its NAVSTAR satellite program. A fully operational GPS includesmore than 21 Earth orbiting satellites approximately uniformly dispersedaround six circular orbits with four satellites each, the orbits beinginclined at an angle of 55° relative to the equator and being separatedfrom each other by multiples of 60° longitude. The orbits have radii of26,560 kilometers and are approximately circular. The orbits arenon-geosynchronous, with 0.5 sidereal day (11.967 hours) orbital timeintervals, so that the satellites move with time relative to the Earthbelow. Generally, four or more GPS satellites will be visible from mostpoints on the Earth's surface, which can be used to determine anobserver's position anywhere on the Earth's surface. Each satellitecarries a cesium or rubidium atomic clock to provide timing informationfor the signals transmitted by the satellites. An internal clockcorrection is provided for each satellite clock.

Each GPS satellite continuously transmits two spread spectrum, L-bandcarrier signals: an L1 signal having a frequency f1=1575.42 MHz(nineteen centimeter carrier wavelength) and an L2 signal having afrequency f2=1227.6 MHz (twenty-four centimeter carrier wavelength).These two frequencies are integral multiplies f1=1,540 f0 and f2=1,200f0 of a base frequency f0=1.023 MHz. The L1 signal from each satelliteis binary phase shift key (BPSK) modulated by two pseudo-random noise(PRN) codes in phase quadrature, designated as the C/A-code and P-code.The L2 signal from each satellite is BPSK modulated by only the P-code.The nature of these PRN codes is described below.

Use of PRN codes allows use of a plurality of GPS satellite signals fordetermining an observer's position and for providing the navigationinformation. A signal transmitted by a particular GPS satellite isselected by generating and matching, or correlating, the PRN code forthat particular satellite. Some of the PRN codes are known and aregenerated or stored in GPS satellite signal receivers operated by users.

A first known PRN code for each GPS satellite, sometimes referred to asa precision code or P-code, is a relatively long, fine-grained codehaving an associated clock or chip rate of f0=10.23 MHz. A second knownPRN code for each GPS satellite, sometimes referred to as aclear/acquisition code or C/A-code, is intended to facilitate rapidsatellite signal acquisition and hand-over to the P-code and is arelatively short, coarser-grained code having a clock or chip rate off0=1.023 MHz. The C/A-code for any GPS satellite has a length of 1023chips or time increments before this code repeats. The full P-code has alength of 259 days, with each satellite transmitting a unique portion ofthe full P-code. The portion of P-code used for a given GPS satellitehas a length of precisely one week (7.000 days) before this code portionrepeats.

Accepted methods for generating the C/A-code and P-code are set forth inthe document ICD-GPS-200: GPS Interface Control Document, ARINCResearch, 1997, GPS Joint Program Office, which is incorporated byreference herein.

The GPS satellite bit stream includes navigational information on theephemeris of the transmitting GPS satellite (which includes orbitalinformation about the transmitting satellite within next several hoursof transmission) and an almanac for all GPS satellites (which includes aless detailed orbital information about all satellites). The transmittedsatellite information also includes parameters providing corrections forionospheric signal propagation delays (suitable for single frequencyreceivers) and for an offset time between satellite clock time and trueGPS time. The navigational information is transmitted at a rate of 50Baud.

A second satellite-based navigation system is the Global OrbitingNavigation Satellite System (GLONASS), placed in orbit by the formerSoviet Union and now maintained by the Russian Republic. GLONASS uses 24satellites, distributed approximately uniformly in three orbital planesof eight satellites each. Each orbital plane has a nominal inclinationof 64.8° relative to the equator, and the three orbital planes areseparated from each other by multiples of 120° longitude. The GLONASSsatellites have circular orbits with a radii of about 25,510 kilometersand a satellite period of revolution of 8/17 of a sidereal day (11.26hours). A GLONASS satellite and a GPS satellite will thus complete 17and 16 revolutions, respectively, around the Earth every 8 days. TheGLONASS system uses two carrier signals L1 and L2 with frequencies off1=(1.602+9k/16) GHz and f2=(1.246+7k/16) GHz, where k (=1,2, . . . 24)is the channel or satellite number. These frequencies lie in two bandsat 1.597-1.617 GHz (L1) and 1,240-1,260 GHz (L2). The L1 signal ismodulated by a C/A-code (chip rate=0.511 MHz) and by a P-code (chiprate=5.11 MHz). The L2 signal is presently modulated only by the P-code.The GLONASS satellites also transmit navigational data at a rate of 50Baud. Because the channel frequencies are distinguishable from eachother, the P-code is the same, and the C/A-code is the same, for eachsatellite. The methods for receiving and demodulating the GLONASSsignals are similar to the methods used for the GPS signals.

Reference to a Satellite Positioning System or SATPS herein refers to aGlobal Positioning System, to a Global Orbiting Navigation System, andto any other compatible satellite-based system that provides informationby which an observer's position and the time of observation can bedetermined, all of which meet the requirements of the present invention.

A Satellite Positioning System (SATPS), such as the Global PositioningSystem (GPS) or the Global Orbiting Navigation Satellite System(GLONASS), uses transmission of coded radio signals, with the structuredescribed above, from a plurality of Earth-orbiting satellites. An SATPSantenna receives SATPS signals from a plurality (preferably four ormore) of SATPS satellites and passes these signals to an SATPS signalreceiver/processor, which (1) identifies the SATPS satellite source foreach SATPS signal, (2) determines the time at which each identifiedSATPS signal arrives at the antenna, and (3) determines the presentlocation of the SATPS satellites.

The range (r_(i)) between the location of the i-th SATPS satellite andthe SATPS receiver is equal to the speed of light c times (Δt_(i)),wherein (Δt_(i)) is the time difference between the SATPS receiver'sclock and the time indicated by the satellite when it transmitted therelevant phase. However, the SATPS receiver has an inexpensive quartzclock which is not synchronized with respect to the much more stable andprecise atomic clocks carried on board the satellites. Consequently, theSATPS receiver estimates a pseudo-range (pr_(i)) (not a true range) toeach satellite.

After the SATPS receiver determines the coordinates of the i-th SATPSsatellite by demodulating the transmitted ephemeris parameters, theSATPS receiver can obtain the solution of the set of the simultaneousequations for its unknown coordinates (x₀, y₀, z₀) and for unknown timebias error (cb). The SATPS receiver can also determine velocity of amoving platform.

In alternative embodiments, the present invention is also well suited toland-based radio navigation systems such as, for example, LORAN, Shoran,Decca, and TACAN (not shown).

Referring still to FIG. 1, the four satellite-vehicles 38, 40, 42, and44 comprise a minimum number of satellites needed for enablement of thepresent invention.

In one embodiment of the present invention, as shown in FIG. 2, morespecifically, the portable position sensor 60 further comprises a lowpower miniature INS 62 integrated with a short range transceiver 64having an antenna 66. In one embodiment of the present invention, asmall light weight, wearable Inertial Navigation System (INS) built intoan article of clothing, shoes, watch, etc. of a member of the personnel,or embedded permanently into the housing of a movable object, or arobot.

In one embodiment of the present invention, as shown in FIG. 2, a smalllight weight, wearable Inertial Navigation System (INS) 62 is built byusing a combination of accelerometers 68, magnetometers 70, a processor74, and a specifically designed software 72.

Acceleron Technology, Inc., located in San Francisco, Calif., has builtsmall light weight, wearable Inertial Navigation System (INS) usingthree accelerometers to measure three components of the localacceleration vector, three magnetometers to measure three components ofthe local gravitational vector, plus some software. An accelerometer isa sensor that measures acceleration, speed and the distance bymathematically determining acceleration over time. Basically, if it isknown how fast the member of the personnel or a movable object/robot isaccelerating for a certain time period, it is easy to calculate how muchthe speed changed after that time period. The distance is measured inthe same fashion: if it is known how fast a member of the personnel or amovable object/robot is moving for a certain time period, it is easy tocalculate the distance traveled during that time.

A magnetometer is a device that measures a local magnetic field. Thelocal gravitational factor can be calculated by using the measured localmagnetic field, because the local gravitational field, as well as thelocal magnetic field, are both defined by the local Earth geometry, aswell explained in the book “Applied Mathematics in Integrated NavigationSystems”, published by American Institute of Aeronautics andAstronautics, Inc, 2000, by Robert M. Rogers.

Indeed, the “Applied Mathematics in Integrated Navigation Systems”teaches how geometrical shape and gravitational models for representingthe Earth are used to provide relationship between ECEF position x-y-zcomponents and local-level latitude, longitude, and attitude positions.The “Applied Mathematics in Integrated Navigation Systems” also teacheshow a moving person/object's position change in geographical coordinatesis related to the local Earth relative velocity and Earth curvature. The“Applied Mathematics in Integrated Navigation Systems” also teaches howto develop the functional characteristics of inertial sensors used innavigation systems, how to develop the time-varying dynamic error modelsfor inertial sensors random errors. The “Applied Mathematics inIntegrated Navigation Systems” is incorporated herein in its entire.

Referring still to FIG. 1, in one embodiment of the present invention,the portable position sensor 18 is configured to substantiallycontinuously receive the high accuracy position and velocity data fromthe high accuracy position determination device 24 by using the one-waycommunication link 32 and to process all data locally using a portabledata processor 21. More specifically, the portable data processor 21 isconfigured to derive a set of INS positional data corresponding to theINS module 18 based on the high accuracy position and velocity dataprovided by the high accuracy position determination device 24 and basedon the acceleration data adjusted for the local gravitational factorprovided by the INS module 20. The portable data processor 21 derivesthe set of INS positional data corresponding to the INS module byincorporating the set of high accuracy velocity data provided by thehigh accuracy position determination device into the set of measuredabsolute acceleration data adjusted for the local gravitational factorprovided by the INS module in order to generate a set of absolutevelocity data indicative of an absolute velocity of the INS module. Artthe next step (please, see full discussion below), the portable dataprocessor 21 integrates the set of high accuracy positional dataprovided by the high accuracy position determination device 24 into theset of absolute velocity data in order to generate a set of INS dataincluding a set of absolute positional data indicative of location ofthe INS module 20. In one embodiment of the present invention, theportable data processor 21 additionally generates a set of INSpositional error data that indicates the degree of accuracy of the setof absolute INS positional data. In one embodiment of the presentinvention, the portable data processor 21 additionally generates a setof INS absolute velocity/acceleration vector error data that indicatesthe degree of accuracy of the absolute velocity/acceleration vector ofthe INS module 20. Please, see discussion below.

Referring still to FIG. 2, in one embodiment of the present invention,at least one portable position sensor 60 further includes a memory block79 that is configured to record the set of INS positional datacorresponding to the INS module over a first time period. In anotherembodiment of the present invention, the memory block 79 is furtherconfigured to record the set of INS positional error data that indicatesthe degree of accuracy of the set of absolute INS positional data over asecond time period.

Referring still to FIG. 2, in one embodiment of the present invention,at least one portable position sensor 60 further includes a displaydevice 78 configured to display the set of INS positional datacorresponding to the INS module over a time period. In one embodiment ofthe present invention, at least one portable position sensor furtherincludes a display device 78 configured to display the set of INSpositional data including a set of INS positional error data.

Referring still to FIG. 1, in one embodiment of the present invention,at least one portable position sensor 18 is configured at first, tosubstantially continuously receive the high accuracy position andvelocity data provided by the high accuracy position determinationdevice 24 by using the one-way, or the two-way communication link 32;secondly, to derive a set of INS positional data corresponding to theINS module 20 based on the high accuracy position and velocity dataprovided by the high accuracy position determination device 24 and basedon the acceleration data adjusted for the local gravitational factorprovided by the INS module 20; and thirdly, to substantiallycontinuously broadcast the set of INS positional data corresponding tothe INS module by using the one-way, or the two-way communication link34 to the remote access radio relay 54, or to the remote access trackingstation 52 by using the one-way, or the two-way communication link 36.

In one embodiment of the present invention, the portable position sensor18 is further configured to substantially continuously broadcast the setof INS positional error data corresponding to the INS module by usingthe communication links 34 and 36.

In one embodiment of the present invention, the one-way communicationlink further comprises a network of short range transceivers configuredto support substantially continuous communication between the highaccuracy position determination device and at least one portableposition sensor.

In one embodiment of the present invention, the two-way communicationlink further comprises: a communication system selected from the groupconsisting of: {a Bluetooth communication system, an Ultra Wide Band(UWB) communication system, an (802.11a) communication system, an(802.11b) communication system, an (802.11 g) communication system, aLAN network, a WAN network, and a Wi-Fi network}.

In the present invention, each communication link (32, 34, or 36) can beestablished in one of many ways. For example, at least one ofcommunication links 32 can be established using a Metricomm Wide AreaNetwork (WAN) link operating at approximately 900 MHz, by using atrunked radio system, or by using a Cellular Digital Packet Data (CDPD)protocol. In the CDPD protocol, a modem and a radio are used to senddata at a rate of 19.2 Kbits/s over cellular circuits not currentlybeing used for voice transmissions. A control channel is called, and theuser is assigned a channel. Communication node then bursts packet data,using, for example, ECP/IP protocol, to deliver the data to eachportable position sensor 18 until the data is completely transmitted oruntil the channel is no longer free. If the data is not completelytransferred when the channel expires, at least one communication link 32is then established using a different channel. The communication link 32can be part of a local area network (LAN), or a part of a wireless radiolink to any other remote location, or a part of a wireless radio link tothe Internet.

In one embodiment of the present invention, at least one two-waycommunication link (32, 34, or 36) further comprises a 802.11a, b, or gcommunication system. 802.11 (a, b, or g) communication system is awireless LAN system based on the Institute of Electrical and ElectronicsEngineers standards for 802.11 Wi-Fi technologies with a range up to3,000 feet.

Referring still to FIG. 1, in one embodiment of the present invention,at least one two-way communication link (32, 34, or 36) furthercomprises a Bluetooth communication system. The Bluetooth communicationsystem developed by Ericsson and other companies comprises a globaltechnology specification for low-cost, small from-actor, wirelesscommunication and networking between different devices. The range ofBluetooth which is typically 30 feet can be extended up to 300 feet ifoptional amplifiers are placed at strategic locations within a building.The elimination of cables makes for a safer work environment, sincethere are no cables for people to trip over und unplug. Besideselimination of cables, the Bluetooth wireless technology also enablesdevices to communicate with each other as soon as they come withinrange, rather than requiring the user to open an application or press abutton to initiate a process. The Bluetooth wireless technology does nothave to be set up-it is always running in the background. The completedescription of the Bluetooth wireless technology can be found in the“Bluetooth Demystified” by Nathan J. Muller, published by McGraw-Hill in2001.

Referring still to FIG. 1, in one embodiment of the present invention,at least one two-way communication link (32, 34, or 36) furthercomprises an Ultra Wide Band (UWB) wireless communication system.

Referring still to FIG. 1, in one embodiment of the present invention,the communication link (32, 34, or 36) further comprises a first one-waycommunication link, and a second one-way communication link. In oneembodiment, the first one-way communication link further comprises aBluetooth communication system, or a 802.11a, b, or g communicationsystem, or an UWB communication system. In one embodiment, the secondone-way communication link further comprises a Bluetooth communicationsystem, or a 802.11a, b, or g communication system, or an UWBcommunication system.

Referring still to FIG. 1, in one embodiment of the present invention,the position determination system for personnel members or movableobjects comprises: at least one portable position sensor 18; ahigh-accuracy position determination device 24 capable of determiningits position and velocity with high accuracy; a one-way communicationlink (32 and/or 36); and a tracking station 52. In one embodiment of thepresent invention, each portable position sensor further comprises: aninertial navigation system (INS) module 20 capable of determining itsacceleration data adjusted for a local gravitational factor; a portablewireless communication module 22, and a power source 23 adapted toprovide power to the portable position sensor. In this embodiment, theportable position sensor 18 does not include the processor 21. Instead,in this embodiment of the present invention, the tracking station 52further includes a data processor 51 configured to substantiallycontinuously receive the high accuracy position and velocity dataprovided by the high accuracy position determination device 24 by usingthe communication link 34, and the acceleration data adjusted for alocal gravitational factor provided by each portable position sensor 18by using the communication link 36; and configured to derive an INSpositional data including an INS positional error data corresponding toeach INS module 20.

In one embodiment of the present invention, the tracking station 52further includes a display 53 configured to display and to track eachINS module 20 based on the INS positional data including the INSpositional error data corresponding to the INS module.

In one embodiment of the present invention, the tracking station, afterderiving the position coordinates for INS module 20, is configured tosubstantially continuously communicate to the INS module 20 using thecommunication link 36 its position coordinates. In one embodiment of thepresent invention, the tracking station 52 further includes an alarmdevice 55 configured to communicate to each INS module 20 using thecommunication link 36 that its positional error data exceeds apredetermined threshold.

In one embodiment of the present invention, FIG. 3 depicts the highaccuracy position determination device 80 including: an integratedVector Global Positioning System (Vector GPS) navigation unit 82, amaster GPS antenna 89, two slave GPS antennas 88 and 90, a transceiverunit 86 including a transceiver antenna 87, a display device 84, and anorientation device 88 housed in a vehicle 83. In the present embodiment,the vehicle 83 is, for example, a fire truck, or an ambulance, or apolice vehicle, or any one of numerous other types of vehicles as well.

As shown in FIG. 3, the integrated Vector Global Positioning System(Vector GPS) is configured to determine an orientation vector and avelocity vector of the high accuracy position determination device 24used in the present invention. In the U.S. Pat. No. 6,154,170 issued toDentinger, et al., the enhanced attitude determination system usingsatellite navigation receiver with antenna multiplexing is disclosed.The '170 patent includes the position, velocity, time (PVT) and attitude(ATT) measurement system including a Master GPS antenna and a pluralityof Slave GPS antennas. The system of '170 patent comprises a hardwarePVT channel and a hardware ATT channel. After the Master GPS antenna isselected, the hardware PVT channel stays locked on the Master antennaduring the measurement time thus optimizing the accuracy of the PVTdata. The PVT channel performs the tracking of the visible GPSsatellites and generates the tracking data and the PVT data. The ATTchannel performs the attitude measurement using all Slave antennas andthe PVT tracking data.

Referring still to FIG. 3, in one embodiment of the present invention,the orientation device 88 is configured to use the orientation vectorand the velocity vector of the Mobile Initialization Station (MIS) 83for an initial calibration of at least one portable position sensor(100, 102) or for subsequent re-calibration of at least one portableposition sensor (100, 102) at time instances when the portable positionsensor includes a velocity vector substantially equal to the velocityvector of the MIS 83. In one embodiment of the present invention, theorientation device 88 further comprises a cavity 89 configured to holdthe integrated INS/transceiver for initial calibration or for subsequentre-calibration of the portable position sensor.

Referring still to FIG. 3, in one embodiment of the present invention,the high accuracy position determination device 83 further comprises aPortable Initialization Station (PIS) further including: an integratedVector Global Positioning System (Vector GPS)/transceiver unit 82, amaster GPS antenna 89, two slave GPS antennas 88 and 90, a displaydevice 84, and an orientation device 88. In this embodiment, theintegrated Vector Global Positioning System (Vector GPS) is configuredto determine an orientation vector of the PIS. In one embodiment, theorientation device includes a cavity that can be used for an initialcalibration, or for subsequent re-calibration of at least one portableposition sensor 100 or 102.

In one embodiment, if the position determination system of the presentinvention includes a Vector GPS navigation system (82 of FIG. 3), thehigh accuracy position determination device 83 is configured to provideeach portable position sensor (100 through 102) with a set of highaccuracy orientation data indicative of orientation of the high accuracyposition determination device 83 by using a two-way communication link(104 or 106), or by using at least one one-way communication link (104or 106).

As shown in FIG. 1, a more detailed schematic block diagram of highaccuracy position determination device 24 includes a transceiver 58having an antenna 59 attached thereto, a signal processor 56, a memory57, and a display unit 50. In the present embodiment, memory 57 stores,for example, previously displayed tracking data, and the level oferrors, and the allowable positioning error threshold (please, seediscussion below). Although the tracking data is immediately displayedin the display 50, it can be also stored in memory 57, and alsotransmitted over each communication link 32 to each member of thepersonnel or to each movable object/robot, synchronously, or at a latertime. The position determination system of the present invention is alsoable to update previously recorded tracking information after subsequentre-initialization. See discussion below.

In one embodiment of the present invention, in operation, the positiondetermination system 10 (of FIG. 1) performs the following steps, asshown in flowchart 110 of FIG. 4. At step 114, the high accuracyposition determination device (24 of FIG. 1) utilizes the satellitenavigation device (48 of FIG. 1) to obtain a set of high accuracyinitialization data including a set of high accuracy absolute positionaldata indicative of location of the initialization device, and a set ofhigh accuracy velocity/acceleration data indicative ofvelocity/acceleration of the initialization device. If the high accuracyposition determination device (24 of FIG. 1) employs the vector GOSnavigation device (82 of FIG. 3), in addition to the high accuracypositional and velocity/acceleration data, a set of high accuracyorientation data indicative of orientation of the high accuracy positiondetermination device is available.

At the step 116, each INS substantially continuously measures a set ofabsolute acceleration data adjusted for a local gravitational factor,and generates (at step 118) a set of absolute velocity data indicativeof each portable position sensor absolute velocity by incorporating theset of high accuracy initialization data into the set of measuredabsolute acceleration data adjusted for the local gravitational factor.At step 120, each INS generates a set of absolute positional dataindicative of one INS portable position sensor location by integratingthe set of high accuracy initialization data into the set of generatedabsolute velocity data. Finally, at step 122, each INS generates a setof INS positional error data that indicates a degree of accuracy of eachportable position sensor location.

EXAMPLE I

Each member of the personnel has its personal INS/transceiver integratedunit that is powered when the member puts on his boots, and gets in avehicle to drive to the location of fire, accident, etc. At this time,when the velocity vector of the MIS and the velocity vector of themember of the personnel is the same, the high accuracy initializationdata is transmitted to the wearable personal INS located in the boots.On the travel to the fire, the correlation is made between MIS and theboots because they are both traveling about the same speed in the samedirection for a period of time. This allows the boot to confirm that itis on the vehicle, and since the vehicle has a GPS, the boot caninitialize to the same position as the vehicle. When the vehicle stops,and the fireman jumps off, the INS is initialized and starts integratingacceleration to generate a continuous position. This position isreceived by the vehicle in the fleet. If the fireman gets on anothervehicle to go to another side of the fire, this calibration cannot occurwith another vehicle until the fireman has ridden on the vehicle andthey have shared a common velocity profile. Using the communication link32, the high accuracy data is transmitted to at least one describedabove portable position sensor 18.

In one embodiment (not shown), each INS also generates a set of INSabsolute velocity/acceleration vector error data that indicates a degreeof accuracy of each portable position sensor absolutevelocity/acceleration vector. In one embodiment (not shown), each INSmodule substantially continuously broadcasts each set of INS dataincluding the set of absolute positional data indicative of its locationby using at least one communication link between the INS module and aMobile Initialization Sation (MIS) (24 of FIG. 1) or a PortableInitialization Station (PIS), and substantially continuously broadcaststhe set of absolute velocity/acceleration data indicative of itsabsolute velocity/acceleration using at least one communication link 32between each INS module 20 and the MIS (24 of FIG. 1), or the PIS (84 ofFIG. 3). In addition, preferably, the positional error data is alsobroadcast to the MIS, or PIS, or to the tracking station 52. This allowsto display the position (including the position error) of each member ofpersonnel, or each movable object/robot in the tracking station displayscreen 53, and to communicate using the communication link 36 to eachmember of personnel its position when needed.

INS-generated data always degrades over time. When the positional errorbecomes intolerable (larger than the predetermined threshold), thesubsequent re-calibration can be provided to any member of personnel ifthe member again approaches the MIS or PIS for re-calibration.

The foregoing description of specific embodiments of the presentinvention have been presented for purposes of illustration anddescription. They are not intended to be exhaustive or to limit theinvention to the precise forms disclosed, and obviously manymodifications and variations are possible in light of the aboveteaching. The embodiments were chosen and described in order to bestexplain the principles of the invention and its practical application,to thereby enable others skilled in the art to best utilize theinvention and various embodiments with various modifications as aresuited to the particular use contemplated. Therefore, it is intendedthat the scope of the invention be defined by the claims appended heretoand their equivalents, rather than by the foregoing description. Allchanges which come within the meaning and range of equivalency of theclaims are to be embraced within their scope.

1. A position determination system for personnel members or movableobjects comprising: at least one portable position sensor, each saidportable position sensor further comprising: an inertial navigationsystem (INS) module capable of determining its absolute accelerationdata adjusted for a local gravitational factor; a portable wirelesscommunication module; and a power source adapted to provide power tosaid portable position sensor; a high accuracy position determinationdevice capable of determining its position and velocity with highaccuracy; and a link between each said portable position sensor and saidhigh accuracy position determination device; wherein said high accuracyposition and velocity data provided by said high accuracy positiondetermination device and said acceleration data adjusted for said localgravitational factor provided by at least one said portable positionsensor is linked by incorporating said set of high accuracy velocitydata provided by said high accuracy position determination gravitationalfactor provided by at least one said INS module in order to generate aset of absolute velocity data indicative of an absolute velocity of saidat least one INS module; and by integrating said set of high accuracypositional data provided by said high accuracy position determinationdevice into said set of absolute velocity data in order to generate aset of INS data including a set of high accuracy absolute positionaldata indicative of location of said at least one INS module.
 2. Theposition determination system of claim 1, wherein at least one saidportable position sensor is built into a wearable item of a member ofsaid personnel having an identification number ID_Number.
 3. Theposition determination system of claim 1, wherein at least one saidportable position sensor is embedded into a movable object having anID_Object_Number.
 4. The position determination system of claim 1,wherein at least one said portable position sensor further includes: aportable data processor; and a substantially continuous one-waycommunication link; wherein said portable position sensor is configuredto substantially continuously receive said high accuracy position andvelocity data from said high accuracy position determination device byusing said one-way communication link; and wherein said portable dataprocessor is configured to derive a set of INS positional datacorresponding to said INS module based on said high accuracy positionand velocity data provided by said high accuracy position determinationdevice and based on said acceleration data adjusted for said localgravitational factor provided by said INS module.
 5. The positiondetermination system of claim 4, wherein said portable data processorderives said set of INS positional data corresponding to said INS moduleby incorporating said set of high accuracy velocity data provided bysaid high accuracy position determination device into said set ofmeasured absolute acceleration data adjusted for said localgravitational factor provided by said INS module in order to generate aset of absolute velocity data indicative of an absolute velocity of saidINS module; and by integrating said set of high accuracy positional dataprovided by said high accuracy position determination device into saidset of absolute velocity data in order to generate a set of INS dataincluding a set of absolute positional data indicative of location ofsaid INS module.
 6. The position determination system of claim 5,wherein said portable data processor generates a set of INS positionalerror data that indicates the degree of accuracy of said set of absoluteINS positional data.
 7. The position determination system of claim 6,wherein at least one said portable position sensor further includes: amemory block; said memory block is configured to record said set of INSpositional data corresponding to said INS module over a first timeperiod.
 8. The position determination system of claim 7, wherein saidmemory block is further configured to record said set of INS positionalerror data that indicates the degree of accuracy of said set of absoluteINS positional data over a second time period.
 9. The positiondetermination system of claim 6, wherein at least one said portableposition sensor further includes: a display device configured to displaya set of INS positional error data that indicates the degree of accuracyof said set of absolute INS positional data.
 10. The positiondetermination system of claim 5, wherein said portable data processorgenerates a set of INS absolute velocity/acceleration vector error datathat indicates the degree of accuracy of said absolutevelocity/acceleration vector of said INS module.
 11. The positiondetermination system of claim 5, wherein at least one said portableposition sensor further includes: a display device configured to displaysaid set of INS positional data corresponding to said INS module over atime period.
 12. The position determination system of claim 4, whereinsaid one-way communication link further comprises: a network of shortrange transceivers configured to support substantially continuouscommunication between said high accuracy position determination deviceand at least one said portable position sensor.
 13. The positiondetermination system of claim 1, wherein at least one said portableposition sensor further includes: a portable data processor; and asubstantially continuous two-way communication link; wherein saidportable position sensor is configured to substantially continuouslyreceive said high accuracy position and velocity data provided by saidhigh accuracy position determination device by using said two-waycommunication link; wherein said portable data processor is configuredto derive a set of INS positional data corresponding to said INS modulebased on said high accuracy position and velocity data provided by saidhigh accuracy position determination device and based on saidacceleration data adjusted for said local gravitational factor providedby said INS module; and wherein said portable wireless communicationmodule is configured to substantially continuously broadcast said set ofINS positional data corresponding to said INS module by using saidtwo-way communication link.
 14. The position determination system ofclaim 13, wherein said portable wireless communication module is furtherconfigured to substantially continuously broadcast said set of INSpositional error data corresponding to said INS module by using saidtwo-way communication link.
 15. The position determination system ofclaim 13, wherein said two-way communication link further comprises: acommunication system selected from the group consisting of: {a Bluetoothcommunication system, an Ultra Wide Band (UWB) communication system, an(802.11a) communication system, an (802.11b) communication system, an(802.11g) communication system, a LAN network, a WAN network, and aWi-Fi network}.
 16. The position determination system of claim 1 furtherincluding: a one-way communication link; and a tracking station furtherincluding: a data processor configured by using said one-waycommunication link to substantially continuously receive said highaccuracy position and velocity data provided by said high accuracyposition determination device and said acceleration data adjusted for alocal gravitational factor provided by each said portable positionsensor; and wherein said data processor is configured to derive an INSpositional data including an INS positional error data corresponding toeach said INS module.
 17. The position determination system of claim 16,wherein said tracking station further includes: a display configured todisplay and to track each said INS module based on said INS positionaldata including said INS positional error data corresponding to one saidINS module.
 18. The position determination system of claim 17, whereinsaid tracking station is configured to substantially continuouslycommunicate with each said INS module using said two-way communicationlink.
 19. The position determination system of claim 18, wherein saidtracking station further includes: an alarm device configured tocommunicate to each said INS module using said two-way communicationlink that its positional error data exceeds a predetermined threshold.20. The position determination system of claim 1, wherein said highaccuracy position determination device further comprises: a MobileInitialization Station (MIS) further including: an integrated SatellitePositioning System (SATPS)/transceiver unit; and a display devices. 21.The position determination system of claim 1, wherein said high accuracyposition determination device further comprises: a Mobile InitializationStation (MIS) further including: an integrated Global Positioning System(GPS)/transceiver unit; and a display device.
 22. The positiondetermination system of claim 1, wherein said high accuracy positiondetermination device further includes: a high accuracy positiondetermination device including a set of high accuracy orientation dataindicative of orientation of said high accuracy position determinationdevice.
 23. The position determination system of claim 22, wherein saidhigh accuracy position determination device is configured to provide toat least one said portable position sensor a set of high accuracyorientation data indicative of orientation of said high accuracyposition determination device.
 24. The position determination system ofclaim 22, wherein said high accuracy position determination devicefurther comprises: a Mobile Initialization Station (MIS) furtherincluding: an integrated Vector Global Positioning System (VectorGPS)/transceiver unit; and a display device; and an orientation device;wherein said integrated Vector Global Positioning System (Vector GPS) isconfigured to determine an orientation vector and a velocity vector ofsaid MIS; and wherein said orientation device is configured to use saidorientation vector and said velocity vector of said MIS for an initialcalibration of at least one said portable position sensor; and whereinsaid orientation device is configured to use said orientation vector andsaid velocity vector of said MIS for subsequent re-calibration of atleast one said portable position sensor at time instances when at leastone said portable position sensor includes a velocity vectorsubstantially equal to said velocity vector of said MIS.
 25. Theposition determination system of claim 24, wherein said orientationdevice further comprises: a cavity configured to hold said integratedINS/transceiver for initial calibration or for subsequent re-calibrationof said portable position sensor.
 26. The position determination systemof claim 1, wherein said high accuracy position determination devicefurther comprises: a Portable Initialization Station (PIS) furtherincluding: an integrated Satellite Positioning System(SATPS)/transceiver unit; and a display device.
 27. The positiondetermination system of claim 1, wherein said high accuracy positiondetermination device further comprises: a portable initializationstation (PIS) further including: an integrated Global Positioning System(GPS)/transceiver unit; and a display device.
 28. The positiondetermination system of claim 1, wherein said high accuracy positiondetermination device further comprises: a Portable InitializationStation (PIS) further including: an integrated Vector Global PositioningSystem (Vector GPS)/transceiver unit; and a display device; and anorientation device; wherein said integrated Vector Global PositioningSystem (Vector GPS) is configured to determine an orientation vector ofsaid PIS; and wherein said orientation device is configured to use saidorientation vector of said PIS for an initial calibration of at leastone said portable position sensor; and wherein said orientation deviceis configured to use said orientation vector of said PIS for subsequentre-calibration of at least one said portable position sensor.
 29. Theposition determination system of claim 28, wherein said orientationdevice further comprises; a cavity configured to hold said integratedINS/transceiver for initial calibration or for subsequent re-calibrationof said portable position sensor.
 30. The position determination systemof claim 1, wherein at least one said portable position sensor furthercomprises: a low power miniature INS integrated with a short rangetransceiver.
 31. The position determination system of claim 1, whereinat least one said portable position sensor further comprises: a lowpower miniature INS built into a wearable item selected from the groupconsisting of: {shoes; an article of clothing; and a watch}.
 32. Theposition determination system of claim 1, wherein at least one saidportable position sensor further comprises: a low power miniature INSintegrated with a short range transceiver and built into a wearable itemselected from the group consisting of: {shoes; an article of clothing;and a watch}.
 33. A method for tracking movable objects or personnel;each said movable object or a member of personnel including an portableposition sensor; said method comprising the steps of: using a highaccuracy position determination device to provide a set of high accuracyinitialization data including a set of high accuracy absolute positionaldata indicative of location of said high accuracy position determinationdevice, a set of high accuracy velocity/acceleration data indicative ofvelocity/acceleration of said high accuracy position determinationdevice, and a set of high accuracy orientation data indicative oforientation of said high accuracy position determination device to atleast one said portable position sensor; substantially continuouslymeasuring a set of absolute acceleration data adjusted for a localgravitational factor of each said portable position sensor by using saidportable position sensor; generating a set of absolute velocity dataindicative of each said portable position sensor absolute velocity byincorporating said set of high accuracy initialization data into saidset of measured absolute acceleration data adjusted for said localgravitational factor by using said portable position sensor; generatinga set of absolute positional data indicative of each said portableposition sensor location by integrating said set of high accuracyinitialization data into said set of generated absolute velocity data byusing said portable position sensor; generating a set of INS positionalerror data that indicates a degree of accuracy of each said portableposition sensor location by using said portable position sensor; andgenerating a set of INS absolute velocity/acceleration vector error datathat indicates a degree of accuracy of each said portable positionsensor absolute velocity/acceleration vector by using said portableposition sensor.
 34. The method of claim 33 further including the stepof: substantially continuously broadcasting each said set of INS dataincluding said set of absolute positional data indicative of one saidINS module location by using at least one communication link betweeneach said INS module and a Mobile Initialization Sation (MIS) or aPortable Initialization Station (PIS).
 35. The method of claim 34further including the step of: substantially continuously broadcastingeach said set of INS data including said set of absolutevelocity/acceleration data indicative of said INS module absolutevelocity/acceleration using said at least one communication link betweeneach said INS module and said MIS or said PIS.
 36. The method of claim35 further including the steps of: substantially continuouslybroadcasting said set of INS positional error data by using said atleast one communication link between each said INS module and said MISor said PIS; and substantially continuously broadcasting said set of INSabsolute velocity/acceleration vector error data by using said at leastone communication link between each said INS module and said MIS or saidPIS.
 37. The method of claim 36, wherein said step of using said highaccuracy position determination device to provide said set of highaccuracy initialization data to said at least one portable positionsensor further includes the steps of: providing an initial calibrationto each said portable position sensor by using a communication linkbetween said high accuracy position determination device and said oneportable position sensor; and providing subsequent re-calibration to atleast one portable position sensor by using said communication linkbetween said high accuracy position determination device and said oneINS module that broadcasts a set of INS positional error data exceedinga predetermined positional error data threshold.
 38. The method of claim37 further including the step of: providing subsequent re-calibration toat least one portable position sensor by using said communication linkbetween said high accuracy position determination device and said oneINS module that broadcasts a set of INS absolute velocity/accelerationvector error data exceeding a predetermined absolutevelocity/acceleration vector error data threshold.
 39. The method ofclaim 37, wherein said step of providing said subsequent re-calibrationto said at least one portable position sensor further includes the stepof: providing said subsequent re-calibration to said at least oneportable position sensor while at least one said portable positionsensor includes a velocity vector that is substantially equal to saidvelocity vector of said high accuracy position determination device. 40.The method of claim 33, wherein said step of providing said set of highaccuracy initialization data to said at least one portable positionsensor further includes the step of: using a one-way Bluetoothcommunication link between said high accuracy position determinationdevice and each said portable position sensor.
 41. The method of claim33, wherein said step of providing said set of high accuracyinitialization data to said at least one portable position sensorfurther includes the step of: using a Mobile Initialization Station(MIS) including an integrated Satellite Positioning System(SATPS)/transceiver unit to continuously obtain said set of highaccuracy initialization data.
 42. The method of claim 33, wherein saidstep of providing said set of high accuracy initialization data to saidat least one portable position sensor further includes the step of:using a Mobile Initialization Station (MIS) including an integratedGlobal Positioning System (GPS)/transceiver unit to continuously obtainsaid set of high accuracy initialization data.
 43. The method of claim33, wherein said step of providing said set of high accuracyinitialization data to said at least one portable position sensorfurther includes the step of: using a Portable Initialization Station(PIS) including an integrated Satellite Positioning System(SATPS)/transceiver unit to continuously obtain said set of highaccuracy initialization data.
 44. The method of claim 33, wherein saidstep of providing said set of high accuracy initialization data to saidat least one portable position sensor further includes the step of:using a Portable Initialization Station (PIS) including an integratedGlobal Positioning System (GPS)/transceiver unit to continuously obtainsaid set of high accuracy initialization data.
 45. The method of claim33 further including the step of: displaying said set of INS positionalerror data further including a set of INS positional error data thatindicates a degree of accuracy of each said portable position sensorlocation by using a display device.
 46. A position determination systemfor personnel members or movable objects, each said personnel member oreach said movable object including an INS module; said systemcomprising: a means for determining an INS acceleration data adjustedfor a local gravitational factor for each said INS module; a means forwireless communication with each said INS module; and a high accuracyposition determination means capable of determining its position andvelocity with high accuracy; wherein said high accuracy position andvelocity data provided by said high accuracy position determinationmeans is received by each said INS module by using said means forwireless communication, and wherein said received high accuracy positionand velocity data and said INS acceleration data adjusted for said localgravitational factor are used to derive an INS positional datacorresponding to each said INS module.
 47. The position determinationsystem of claim 46, wherein at least one said INS module furtherincludes: a portable data processing means; wherein said portable dataprocessing means is configured to derive said set of INS positional datacorresponding to said INS module.
 48. The position determination systemof claim 46, wherein at least one said INS module further includes: amemory means configured to record said set of INS positional datacorresponding to said INS module over a time period.
 49. The positiondetermination system of claim 46, wherein at least one said INS modulefurther includes: a display means configured to display said set of INSpositional data corresponding to said INS module over a time period.